public static void Process(AStarAgent agent)
{
foreach (GridElement element in agent.MyGrid.Elements)
{
element.PathParentField = null;
}
_openElements.Clear();
_closedElements.Clear();
if (!_targetElement.Walkable)
{
Debug.LogWarning("Target isn't Walkable!");
return;
}
_startElement.PathParentField = null;
bool complete = false;
if (_startElement != null)
{
_openElements.Add(_startElement);
_currentElement = _startElement;
_currentElement.CalculateHeuristic(_targetElement);
}
while (_openElements.Count > 0)
{
int openSize = _openElements.Count;
float lowestCost = float.MaxValue;
for (int i = 0; i < openSize; ++i)
{
if (_openElements[i].TotalFieldMoveCost < lowestCost)
{
_currentElement = _openElements[i];
lowestCost = _currentElement.TotalFieldMoveCost;
}
}
_openElements.Remove(_currentElement);
_closedElements.Add(_currentElement);
if (_currentElement.Equals(_targetElement))
{
complete = true;
break;
}
CheckNeighbours(agent.MyGrid);
}
if (complete)
{
GridElement step = _currentElement;
agent.Path.Clear();
do
{
agent.Path.Add(step);
step = step.PathParentField;
} while (step != null);
agent.Path.Reverse();
}
}
private static GridElement FindClosestElement(AStarAgent agent, Vector3 position)
{
try
{
//GridElement closestElement = null;
//int xMax, xMin, yMax,yMin/*, zMax, zMin*/;
//xMax = agent.MyGrid.GridSize.y;
//yMax = agent.MyGrid.GridSize.x;
////zMax = agent.MyGrid.GridSize.z;
//xMin = yMin =/* zMin =*/ 0;
switch (agent.MyGrid.GridType)
{
case GridType.TwoDimensional:
{
GridElement closest = null;
float dist = float.MaxValue;
foreach (GridElement ele in agent.MyGrid.Elements)
{
float currentDist = Vector3.Distance(position, ele.transform.position);
if (currentDist < dist)
{
dist = currentDist;
closest = ele;
}
}
return(closest);
//List<GridElement> leftPoints = new List<GridElement>();
//List<GridElement> middlePoints = new List<GridElement>();
//List<GridElement> rightPoints = new List<GridElement>();
//leftPoints.Add(agent.MyGrid.Elements[xMin, yMin, 0]);
//leftPoints.Add(agent.MyGrid.Elements[xMin, yMax / 2, 0]);
//leftPoints.Add(agent.MyGrid.Elements[xMin, yMax - 1, 0]);
//middlePoints.Add(agent.MyGrid.Elements[xMax / 2, yMin, 0]);
//middlePoints.Add(agent.MyGrid.Elements[xMax / 2, yMax / 2, 0]);
//middlePoints.Add(agent.MyGrid.Elements[xMax / 2, yMax - 1, 0]);
//rightPoints.Add(agent.MyGrid.Elements[xMax - 1, 0, 0]);
//rightPoints.Add(agent.MyGrid.Elements[xMax - 1, yMax / 2, 0]);
//rightPoints.Add(agent.MyGrid.Elements[xMax - 1, yMax - 1, 0]);
//bool flag = true;
//int iterations = 0;
//while (flag)
//{
// ++iterations;
// if (Mathf.Abs(leftPoints[0].ElementIndex.x - rightPoints[0].ElementIndex.x) > 1 || Mathf.Abs(leftPoints[0].ElementIndex.y - rightPoints[2].ElementIndex.y) > 1)
// flag = true;
// else
// flag = false;
// bool contains = false;
// if (FragmentsContaisPosition(agent.GridDirection, leftPoints[0], middlePoints[1], position))
// {
// xMax = middlePoints[1].ElementIndex.x;
// yMax = middlePoints[1].ElementIndex.y;
// contains = true;
// }
// else if (FragmentsContaisPosition(agent.GridDirection, middlePoints[0], rightPoints[1], position))
// {
// xMin = middlePoints[1].ElementIndex.x;
// yMax = middlePoints[1].ElementIndex.y;
// contains = true;
// }
// else if (FragmentsContaisPosition(agent.GridDirection, leftPoints[1], middlePoints[2], position))
// {
// xMax = middlePoints[1].ElementIndex.x;
// yMin = middlePoints[1].ElementIndex.y;
// contains = true;
// }
// else if (FragmentsContaisPosition(agent.GridDirection, middlePoints[1], rightPoints[2], position))
// {
// xMin = middlePoints[1].ElementIndex.x;
// yMin = middlePoints[1].ElementIndex.y;
// contains = true;
// }
// if (!contains || iterations > agent.MyGrid.Elements.Length)
// break;
// leftPoints.Clear();
// middlePoints.Clear();
// rightPoints.Clear();
// leftPoints.Add(agent.MyGrid.Elements[xMin, yMin, 0]);
// leftPoints.Add(agent.MyGrid.Elements[xMin, yMax - Mathf.CeilToInt((yMax - yMin) / 2f), 0]);
// leftPoints.Add(agent.MyGrid.Elements[xMin, yMax - 1, 0]);
// middlePoints.Add(agent.MyGrid.Elements[xMax - Mathf.CeilToInt((xMax - xMin) / 2f), yMin, 0]);
// middlePoints.Add(agent.MyGrid.Elements[xMax - Mathf.CeilToInt((xMax - xMin) / 2f), yMax - Mathf.CeilToInt((yMax - yMin) / 2f), 0]);
// middlePoints.Add(agent.MyGrid.Elements[xMax - Mathf.CeilToInt((xMax - xMin) / 2f), yMax - 1, 0]);
// rightPoints.Add(agent.MyGrid.Elements[xMax - 1, 0, 0]);
// rightPoints.Add(agent.MyGrid.Elements[xMax - 1, yMax - Mathf.CeilToInt((yMax - yMin) / 2f), 0]);
// rightPoints.Add(agent.MyGrid.Elements[xMax - 1, yMax - 1, 0]);
//}
//float minDist = Vector3.Distance(leftPoints[0].transform.position, position);
//closestElement = leftPoints[0];
//float curDist = Vector3.Distance(rightPoints[0].transform.position, position);
//if (minDist > curDist)
//{
// minDist = curDist;
// closestElement = rightPoints[0];
//}
//curDist = Vector3.Distance(leftPoints[2].transform.position, position);
//if (minDist > curDist)
//{
// minDist = curDist;
// closestElement = leftPoints[2];
//}
//curDist = Vector3.Distance(rightPoints[2].transform.position, position);
//if (minDist > curDist)
//{
// closestElement = rightPoints[2];
//}
//return closestElement;
}
case GridType.ThreeDimensional:
{
Debug.LogError("A* 3D not implemented");
if (agent.MyGrid.GridType == GridType.ThreeDimensional)
{
throw new NotImplementedException();
}
}
break;
}
}
catch (NotImplementedException)
{
return(null);
}
return(null);
}
public static void GetTargetElement(AStarAgent agent, Vector3 position)
{
_targetElement = FindClosestElement(agent, position);
}
public static void GetStaringElement(AStarAgent agent, Vector3 position)
{
_startElement = FindClosestElement(agent, position);
}